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Added GMS matching approach (Vis/CorNNType=7). Added GMS/ parameters. Added SuperGlue/Indoor parameter. ImageView: updating feature and line colors directly when changing color (option menu), fixed items already added to scene warning when switching to GraphicsView.

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This commit is contained in:
matlabbe
2020-05-11 13:23:26 -04:00
parent cc9fd439fe
commit d2673ed2fa
12 changed files with 600 additions and 309 deletions
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1
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -329,6 +329,7 @@ private Q_SLOTS:
void updatePredictionPlot();
void updateKpROI();
void updateStereoDisparityVisibility();
void updateFeatureMatchingVisibility();
void useOdomFeatures();
void changeWorkingDirectory();
void changeDictionaryPath();

75
guilib/src/ImageView.cpp
View File

@@ -467,12 +467,18 @@ void ImageView::setGraphicsViewMode(bool on)
{
for(QMultiMap<int, KeypointItem*>::iterator iter=_features.begin(); iter!=_features.end(); ++iter)
{
_graphicsView->scene()->addItem(iter.value());
if(iter.value()->scene() != _graphicsView->scene())
{
_graphicsView->scene()->addItem(iter.value());
}
}
for(QList<QGraphicsLineItem*>::iterator iter=_lines.begin(); iter!=_lines.end(); ++iter)
{
_graphicsView->scene()->addItem(*iter);
if((*iter)->scene() != _graphicsView->scene())
{
_graphicsView->scene()->addItem(*iter);
}
}
//update images
@@ -566,15 +572,80 @@ void ImageView::setDefaultBackgroundColor(const QColor & color)
void ImageView::setDefaultFeatureColor(const QColor & color)
{
QColor previousColor = _defaultFeatureColor;
_defaultFeatureColor = color;
for(QMultiMap<int, KeypointItem*>::iterator iter=_features.begin(); iter!=_features.end(); ++iter)
{
if(QColor(iter.value()->pen().color().rgb()) == previousColor)
{
QColor c = _defaultFeatureColor;
c.setAlpha(_alpha);
iter.value()->setPen(QPen(c));
iter.value()->setBrush(QBrush(c));
}
}
if(!_graphicsView->isVisible())
{
this->update();
}
}
void ImageView::setDefaultMatchingFeatureColor(const QColor & color)
{
QColor previousColor = _defaultMatchingFeatureColor;
_defaultMatchingFeatureColor = color;
for(QMultiMap<int, KeypointItem*>::iterator iter=_features.begin(); iter!=_features.end(); ++iter)
{
if(QColor(iter.value()->pen().color().rgb()) == previousColor)
{
QColor c = _defaultMatchingFeatureColor;
c.setAlpha(_alpha);
iter.value()->setPen(QPen(c));
iter.value()->setBrush(QBrush(c));
}
}
for(QList<QGraphicsLineItem*>::iterator iter=_lines.begin(); iter!=_lines.end(); ++iter)
{
if(QColor((*iter)->pen().color().rgb()) == previousColor)
{
QColor c = _defaultMatchingFeatureColor;
c.setAlpha(_alpha);
(*iter)->setPen(QPen(c));
}
}
if(!_graphicsView->isVisible())
{
this->update();
}
}
void ImageView::setDefaultMatchingLineColor(const QColor & color)
{
QColor previousColor = _defaultMatchingLineColor;
_defaultMatchingLineColor = color;
for(QMultiMap<int, KeypointItem*>::iterator iter=_features.begin(); iter!=_features.end(); ++iter)
{
if(QColor(iter.value()->pen().color().rgb()) == previousColor)
{
QColor c = _defaultMatchingLineColor;
c.setAlpha(_alpha);
iter.value()->setPen(QPen(c));
iter.value()->setBrush(QBrush(c));
}
}
for(QList<QGraphicsLineItem*>::iterator iter=_lines.begin(); iter!=_lines.end(); ++iter)
{
if(QColor((*iter)->pen().color().rgb()) == previousColor)
{
QColor c = _defaultMatchingLineColor;
c.setAlpha(_alpha);
(*iter)->setPen(QPen(c));
}
}
if(!_graphicsView->isVisible())
{
this->update();
}
}
void ImageView::setBackgroundColor(const QColor & color)

17
guilib/src/PreferencesDialog.cpp
View File

@@ -227,6 +227,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->reextract_nn->setItemData(6, 0, Qt::UserRole - 1);
#endif
#if !defined(HAVE_OPENCV_XFEATURES2D) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION<4 || CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<1))
_ui->reextract_nn->setItemData(7, 0, Qt::UserRole - 1);
#endif
#if CV_MAJOR_VERSION >= 3
_ui->groupBox_fast_opencv2->setEnabled(false);
#else
@@ -965,6 +969,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->sgpytorch_matchThreshold->setObjectName(Parameters::kSuperGlueMatchThreshold().c_str());
_ui->sgpytorch_iterations->setObjectName(Parameters::kSuperGlueIterations().c_str());
_ui->checkBox_sgpytorch_cuda->setObjectName(Parameters::kSuperGlueCuda().c_str());
_ui->checkBox_sgpytorch_indoor->setObjectName(Parameters::kSuperGlueCuda().c_str());
// GMS
_ui->checkBox_gms_withRotation->setObjectName(Parameters::kGMSWithRotation().c_str());
_ui->checkBox_gms_withScale->setObjectName(Parameters::kGMSWithScale().c_str());
_ui->gms_thresholdFactor->setObjectName(Parameters::kGMSThresholdFactor().c_str());
// verifyHypotheses
_ui->groupBox_vh_epipolar2->setObjectName(Parameters::kVhEpEnabled().c_str());
@@ -1049,6 +1059,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_pnpFlags->setObjectName(Parameters::kVisPnPFlags().c_str());
_ui->loopClosure_pnpRefineIterations->setObjectName(Parameters::kVisPnPRefineIterations().c_str());
_ui->reextract_nn->setObjectName(Parameters::kVisCorNNType().c_str());
connect(_ui->reextract_nn, SIGNAL(currentIndexChanged(int)), this, SLOT(updateFeatureMatchingVisibility()));
_ui->reextract_nndrRatio->setObjectName(Parameters::kVisCorNNDR().c_str());
_ui->spinBox_visCorGuessWinSize->setObjectName(Parameters::kVisCorGuessWinSize().c_str());
_ui->checkBox__visCorGuessMatchToProjection->setObjectName(Parameters::kVisCorGuessMatchToProjection().c_str());
@@ -4602,6 +4613,12 @@ void PreferencesDialog::updateStereoDisparityVisibility()
_ui->label_stereo_rectify->setVisible(_ui->checkBox_stereo_rectify->isEnabled());
}
void PreferencesDialog::updateFeatureMatchingVisibility()
{
_ui->groupBox_superglue->setVisible(_ui->reextract_nn->currentIndex() == 6);
_ui->groupBox_gms->setVisible(_ui->reextract_nn->currentIndex() == 7);
}
void PreferencesDialog::useOdomFeatures()
{
if(this->isVisible() && _ui->checkBox_useOdomFeatures->isChecked())

701
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-798</y>
<y>-455</y>
<width>680</width>
<height>3497</height>
</rect>
@@ -17042,129 +17042,158 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<property name="title">
<string>Features Matching</string>
</property>
<layout class="QGridLayout" name="gridLayout_30" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_179">
<property name="text">
<string>Nearest neighbor strategy. FLANN LSH must be used only with binary feature detector.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_visCorGuessWinSize">
<property name="suffix">
<string> pixels</string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>16</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="reextract_nndrRatio">
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.700000000000000</double>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="reextract_nn">
<property name="currentIndex">
<number>0</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>FLANN Linear</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_150">
<item>
<layout class="QGridLayout" name="gridLayout_30" columnstretch="0,1">
<item row="0" column="0">
<widget class="QComboBox" name="reextract_nn">
<property name="currentIndex">
<number>0</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>FLANN Linear</string>
</property>
</item>
<item>
<property name="text">
<string>FLANN KdTree</string>
</property>
</item>
<item>
<property name="text">
<string>FLANN LSH</string>
</property>
</item>
<item>
<property name="text">
<string>Brute Force</string>
</property>
</item>
<item>
<property name="text">
<string>Brute Force GPU</string>
</property>
</item>
<item>
<property name="text">
<string>Brute Force Cross Check</string>
</property>
</item>
<item>
<property name="text">
<string>SuperGlue PyTorch</string>
</property>
</item>
<item>
<property name="text">
<string>GMS</string>
</property>
</item>
</widget>
</item>
<item>
<property name="text">
<string>FLANN KdTree</string>
</property>
<item row="0" column="1">
<widget class="QLabel" name="label_179">
<property name="text">
<string>Nearest neighbor strategy. FLANN LSH must be used only with binary feature detector.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<property name="text">
<string>FLANN LSH</string>
</property>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="reextract_nndrRatio">
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.700000000000000</double>
</property>
</widget>
</item>
<item>
<property name="text">
<string>Brute Force</string>
</property>
</item>
<item>
<property name="text">
<string>Brute Force GPU</string>
</property>
</item>
<item>
<property name="text">
<string>Brute Force Cross Check</string>
</property>
</item>
<item>
<property name="text">
<string>SuperGlue PyTorch</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_181">
<property name="text">
<string>NNDR (Nearest Neighbor Distance Ratio)
<item row="1" column="1">
<widget class="QLabel" name="label_181">
<property name="text">
<string>NNDR (Nearest Neighbor Distance Ratio)
(A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor)
Lower the ratio -&gt; higher the precision.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_visCorGuessWinSize">
<property name="suffix">
<string> pixels</string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>16</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_303">
<property name="text">
<string>Matching window size around projected points when a guess transform is provided to find correspondences. 0 means that global matching will be done.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox__visCorGuessMatchToProjection">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_448">
<property name="text">
<string>Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_303">
<property name="text">
<string>Matching window size around projected points when a guess transform is provided to find correspondences. 0 means that global matching will be done.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<item>
<spacer name="verticalSpacer_44">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -17177,24 +17206,284 @@ Lower the ratio -&gt; higher the precision.</string>
</property>
</spacer>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_448">
<property name="text">
<string>Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
<item>
<widget class="QGroupBox" name="groupBox_superglue">
<property name="title">
<string>SuperGlue</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_149">
<item>
<widget class="QLabel" name="label_586">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Python wrapper of &lt;a href=&quot;https://github.com/magicleap/SuperGluePretrainedNetwork&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperGlue&lt;/span&gt;&lt;/a&gt; project. Download &lt;a href=&quot;https://github.com/introlab/rtabmap/blob/master/corelib/src/superglue_pytorch/rtabmap_superglue.py&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;rtabmap_superpoint.py&lt;/span&gt;&lt;/a&gt; and copy it at the root folder of SuperGlue git, then set its path below. &lt;span style=&quot; font-weight:600;&quot;&gt;Important&lt;/span&gt;: SuperGlue works only with SuperPoint descriptors!&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="openExternalLinks">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_116" columnstretch="0,0,1">
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_sgpytorch_path">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_sgpytorch_path"/>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_585">
<property name="text">
<string>Match threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="sgpytorch_matchThreshold">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.200000000000000</double>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_584">
<property name="text">
<string>Iterations.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_583">
<property name="text">
<string>[Required] Path to rtabmap_superpoint.py.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="sgpytorch_iterations">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_587">
<property name="text">
<string>Cuda.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QCheckBox" name="checkBox_sgpytorch_cuda">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_590">
<property name="text">
<string>Indoor model. Uncheck to use outdoor model.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QCheckBox" name="checkBox_sgpytorch_indoor">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_86">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox__visCorGuessMatchToProjection">
<property name="text">
<string/>
<item>
<widget class="QGroupBox" name="groupBox_gms">
<property name="title">
<string>GMS</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_151">
<item>
<widget class="QLabel" name="label_588">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;OpenCV implementation of &lt;a href=&quot;https://github.com/JiawangBian/GMS-Feature-Matcher&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;GMS&lt;/span&gt;&lt;/a&gt;. Since GMS works well when the number of features is large, it is recommended to use the ORB feature and set FastThreshold to 0 to get as many as possible features quickly. If matching results are not satisfying, please add more features (they used 10000 for images of size 640 X 480). If your images have big rotation and scale changes, please set withRotation or withScale to true.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="openExternalLinks">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_117" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_592">
<property name="text">
<string>With rotation. Take rotation transformation into account.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_gms_withRotation">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_589">
<property name="text">
<string>Theshold factor. The higher, the less matches.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="gms_thresholdFactor">
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.200000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_593">
<property name="text">
<string>With Scale. Take scale transformation into account.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_gms_withScale">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_87">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
@@ -17518,7 +17807,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="checked">
<bool>false</bool>
</property>
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<layout class="QVBoxLayout" name="verticalLayout_46" stretch="0,0,1">
<item>
<widget class="QLabel" name="label_182">
<property name="text">
@@ -17902,152 +18191,6 @@ Lower the ratio -&gt; higher the precision.</string>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_32">
<property name="title">
<string>SuperGlue</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_149">
<item>
<widget class="QLabel" name="label_586">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Python wrapper of &lt;a href=&quot;https://github.com/magicleap/SuperGluePretrainedNetwork&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperGlue&lt;/span&gt;&lt;/a&gt; project. Download &lt;a href=&quot;https://github.com/introlab/rtabmap/blob/master/corelib/src/superglue_pytorch/rtabmap_superglue.py&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;rtabmap_superpoint.py&lt;/span&gt;&lt;/a&gt; and copy it at the root folder of SuperGlue git, then set its path below. &lt;span style=&quot; font-weight:600;&quot;&gt;Important&lt;/span&gt;: SuperGlue works only with SuperPoint descriptors!&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="openExternalLinks">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_116" columnstretch="0,0,1">
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_sgpytorch_path">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_sgpytorch_path"/>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_585">
<property name="text">
<string>Match threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="sgpytorch_matchThreshold">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
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<property name="singleStep">
<double>0.010000000000000</double>
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<property name="value">
<double>0.200000000000000</double>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_584">
<property name="text">
<string>Iterations.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_583">
<property name="text">
<string>[Required] Path to rtabmap_superpoint.py.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="sgpytorch_iterations">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_587">
<property name="text">
<string>Cuda.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QCheckBox" name="checkBox_sgpytorch_cuda">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_86">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>